Test also for the unconfigured and finalized lifecycle states

hardware_interface_testing/test/test_resource_manager.cpp

@@ -1905,3 +1905,59 @@ TEST_F(
 
   check_read_and_write_cycles(true);
 }
+
+TEST_F(
+  ResourceManagerTestReadWriteDifferentReadWriteRate,
+  test_components_with_different_read_write_freq_on_unconfigured)
+{
+  setup_resource_manager_and_do_initial_checks();
+
+  // Now deactivate all the components and test the same as above
+  rclcpp_lifecycle::State state_unconfigured(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+    hardware_interface::lifecycle_state_names::UNCONFIGURED);
+  rm->set_component_state(TEST_SYSTEM_HARDWARE_NAME, state_unconfigured);
+  rm->set_component_state(TEST_ACTUATOR_HARDWARE_NAME, state_unconfigured);
+  rm->set_component_state(TEST_SENSOR_HARDWARE_NAME, state_unconfigured);
+
+  auto status_map = rm->get_components_status();
+  EXPECT_EQ(
+    status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+  EXPECT_EQ(
+    status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+  EXPECT_EQ(
+    status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+
+  check_read_and_write_cycles(false);
+}
+
+TEST_F(
+  ResourceManagerTestReadWriteDifferentReadWriteRate,
+  test_components_with_different_read_write_freq_on_finalized)
+{
+  setup_resource_manager_and_do_initial_checks();
+
+  // Now deactivate all the components and test the same as above
+  rclcpp_lifecycle::State state_finalized(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED,
+    hardware_interface::lifecycle_state_names::FINALIZED);
+  rm->set_component_state(TEST_SYSTEM_HARDWARE_NAME, state_finalized);
+  rm->set_component_state(TEST_ACTUATOR_HARDWARE_NAME, state_finalized);
+  rm->set_component_state(TEST_SENSOR_HARDWARE_NAME, state_finalized);
+
+  auto status_map = rm->get_components_status();
+  EXPECT_EQ(
+    status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
+  EXPECT_EQ(
+    status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
+  EXPECT_EQ(
+    status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
+
+  check_read_and_write_cycles(false);
+}